LAUSR

Nowadays, the dual closed loop proportional-integral-lead (PI-Lead) controller is widely used, especially for the servo systems where high performance is required for motion control, like lithography machines and vehicle-used Lidars. Considering complex industrial applications and working conditions, more comprehensive and systematic research about the structure and potential problem of the PI-Lead controller is necessary for enhancing its performance and robustness. In this article, the failure mechanism of the classic antiwindup methods in the PI-Lead controller is analyzed. By adjusting the location of control blocks, a novel reversed structure based PI-Lead controller is proposed as a complement to the traditional antiwindup methods for effective operation and to make the system stable under severe impact disturbances. Then, a self-commissioning strategy is designed based on a fast root mean square error (FRMSE) index and without additional manual tuning factors. Compared with classic indicators, the proposed FRMSE index can achieve faster instability detection and accelerate the tuning process to protect the equipment.